#ifndef MECANUM_H
#define MECANUM_H

#define x_speed //x轴（前后）速度
#define y_speed //y轴（左右）速度
#define w_r



typedef struct //该结构体对应的是底盘速度
{
    float vx;
    float vy;
    float vw;
}Chassis_Speed;

typedef struct //该结构体对应的是四轮速度
{
    float wheel_0;
    float wheel_1;
    float wheel_2;
    float wheel_3;
}Wheel_Speed;

extern Chassis_Speed chassis;
extern Wheel_Speed wheel;
extern const Chassis_Speed *get_chassis_targetspeed(void);
extern const Wheel_Speed *get_wheel_speed(void);
void Data_Prepare(Chassis_Speed *chassis);
void Mec_Cal(Chassis_Speed *chassis,Wheel_Speed *wheel);

#endif